A monitoring area is scanned by an area sensor device (e.g., an optical distance meter) detects objects. Moving objects are identified among the detected objects, and, among the identified moving objects, a moving object which is present in the monitoring area and which has been newest identified is set as a tracking target. The moving object which has been set at the tracking target is automatically tracked by a camera device. As a result, even if there are present a plurality of moving objects in the monitoring area, tracking targets can be switched from one to another, so that it is possible to designate, as a tracking target, a moving object desired by an observer.
Legal claims defining the scope of protection, as filed with the USPTO.
1. A method of monitoring a moving object within a predetermined monitoring area, the method comprising: repeatedly detecting objects every predetermined determination period of time for monitoring objects in the monitoring area by scanning the monitoring area with use of an optical distance meter; identifying the moving objects among the detected objects in each of the determination periods; setting, as a tracking target, among the identified moving objects, a moving object which is present in the monitoring area and which is newest identified, wherein the tracking target is tried to be repeatedly set in each of the determination periods; automatically tracking the moving object which has been set as the tracking target, with use of a camera device every time the tracking target is set, wherein, when there are present a plurality of moving objects which are identified as being the newest, the tracking target is set in an order of starting from a moving object located the nearest to a border of the monitoring area, and the identified tracking target is automatically tracked, the setting and the automatically tracking being repeated for all the identified moving objects; determining whether or not a plurality of the moving objects are identified in the monitoring area; determining whether or not a predetermined tracking release condition, which is set for releasing the automatic tracking using the camera device has been met when it is determined that the plurality of the moving objects are identified in the monitoring area; and enlarging and monitoring, in fixed-point monitoring, preset priority monitoring areas including the priority monitoring object present in the monitoring area with use of the camera device, when it is determined that the tracking release condition is met.
2. The method of claim 1 , wherein the tracking release condition is set such that a count showing that a tracking period becomes lower successively than a lower limit value becomes larger than a lower determination value, the same moving object being automatically tracked during the tracking period.
3. The method of claim 1 , wherein, the tracking release condition is set such that a count showing that the tracking target has been switched to other tracking targets in a predetermined determination period has exceeded a predetermined upper determination value.
4. The method of claim 1 , wherein the tracking release condition is set such that a response time required to automatically track a moving object newly set as a tracking target is longer than a predicted time necessary for the newly set moving object to reach the priority monitoring object.
5. The method of claim 1 , wherein the tracking release condition is set such that the number of identified moving objects exceeds a predetermined upper number.
6. The method of claim 1 , wherein the tracking release condition is set such a period of time during which the priority monitoring object or the priority monitoring area is not continuously monitored is over a predetermined upper limit.
7. The method of claim 1 , wherein the priority monitoring area is set as an area in which, at least, a plurality of the moving objects are able to be imaged.
8. An apparatus for monitoring a moving object within a predetermined monitoring area, the apparatus comprising: an optical distance meter; a camera device; and a controller configured to: repeatedly detect objects every predetermined determination period of time for monitoring objects in the monitoring area by scanning the monitoring area with use of the optical distance meter, identify the moving objects among the detected objects in each of the determination periods, set, as a tracking target, among the identified moving objects, a moving object which is present in the monitoring area and which is newest identified, wherein the tracking target is tried to be repeatedly set in each of the determination periods, automatically track the moving object which has been set as the tracking target, with use of the camera device every time the tracking target is set, wherein, when there are present a plurality of moving objects which are identified as being the newest, the tracking target is set in an order of starting from a moving object located the nearest to a border of the monitoring area, and the identified tracking target is automatically tracked, the setting and the automatically tracking being repeated for all the identified moving objects, determine whether or not a plurality of the moving objects are identified in the monitoring area, determine whether or not a predetermined tracking release condition, which is set for releasing the automatic tracking using the camera device has been met when it is determined that the plurality of the moving objects are identified in the monitoring area, and enlarge and monitor, in fixed-point monitoring, preset priority monitoring areas including the priority monitoring object present in the monitoring area with use of the camera device, when it is determined that the tracking release condition is met.
Cooperative Patent Classification codes for this invention. Click any code to explore related patents in that topic.
March 10, 2014
August 7, 2018
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